.. _program_listing_file_include_rmw_fastrtps_shared_cpp_rmw_common.hpp:

Program Listing for File rmw_common.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rmw_fastrtps_shared_cpp_rmw_common.hpp>` (``include/rmw_fastrtps_shared_cpp/rmw_common.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_
   #define RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_
   
   #include "./visibility_control.h"
   
   #include "rmw/error_handling.h"
   #include "rmw/event.h"
   #include "rmw/features.h"
   #include "rmw/rmw.h"
   #include "rmw/topic_endpoint_info_array.h"
   #include "rmw/types.h"
   #include "rmw/names_and_types.h"
   #include "rmw/network_flow_endpoint_array.h"
   
   namespace rmw_fastrtps_shared_cpp
   {
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_destroy_client(
     const char * identifier,
     rmw_node_t * node,
     rmw_client_t * client);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_compare_gids_equal(
     const char * identifier,
     const rmw_gid_t * gid1,
     const rmw_gid_t * gid2,
     bool * result);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_count_publishers(
     const char * identifier,
     const rmw_node_t * node,
     const char * topic_name,
     size_t * count);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_count_subscribers(
     const char * identifier,
     const rmw_node_t * node,
     const char * topic_name,
     size_t * count);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_gid_for_publisher(
     const char * identifier,
     const rmw_publisher_t * publisher,
     rmw_gid_t * gid);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_guard_condition_t *
   __rmw_create_guard_condition(const char * identifier);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_destroy_guard_condition(rmw_guard_condition_t * guard_condition);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_trigger_guard_condition(
     const char * identifier,
     const rmw_guard_condition_t * guard_condition_handle);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_set_log_severity(rmw_log_severity_t severity);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_node_t *
   __rmw_create_node(
     rmw_context_t * context,
     const char * identifier,
     const char * name,
     const char * namespace_);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_destroy_node(
     const char * identifier,
     rmw_node_t * node);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   const rmw_guard_condition_t *
   __rmw_node_get_graph_guard_condition(const rmw_node_t * node);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_node_names(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_string_array_t * node_names,
     rcutils_string_array_t * node_namespaces);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_init_event(
     const char * identifier,
     rmw_event_t * rmw_event,
     const char * topic_endpoint_impl_identifier,
     void * data,
     rmw_event_type_t event_type);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_node_names_with_enclaves(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_string_array_t * node_names,
     rcutils_string_array_t * node_namespaces,
     rcutils_string_array_t * enclaves);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_publish(
     const char * identifier,
     const rmw_publisher_t * publisher,
     const void * ros_message,
     rmw_publisher_allocation_t * allocation);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_publish_serialized_message(
     const char * identifier,
     const rmw_publisher_t * publisher,
     const rmw_serialized_message_t * serialized_message,
     rmw_publisher_allocation_t * allocation);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_borrow_loaned_message(
     const char * identifier,
     const rmw_publisher_t * publisher,
     const rosidl_message_type_support_t * type_support,
     void ** ros_message);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_return_loaned_message_from_publisher(
     const char * identifier,
     const rmw_publisher_t * publisher,
     void * loaned_message);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_publish_loaned_message(
     const char * identifier,
     const rmw_publisher_t * publisher,
     const void * ros_message,
     rmw_publisher_allocation_t * allocation);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_publisher_assert_liveliness(
     const char * identifier,
     const rmw_publisher_t * publisher);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_publisher_wait_for_all_acked(
     const char * identifier,
     const rmw_publisher_t * publisher,
     rmw_time_t wait_timeout);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_destroy_publisher(
     const char * identifier,
     const rmw_node_t * node,
     rmw_publisher_t * publisher);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_publisher_count_matched_subscriptions(
     const rmw_publisher_t * publisher,
     size_t * subscription_count);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_publisher_get_actual_qos(
     const rmw_publisher_t * publisher,
     rmw_qos_profile_t * qos);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_send_request(
     const char * identifier,
     const rmw_client_t * client,
     const void * ros_request,
     int64_t * sequence_id);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_take_request(
     const char * identifier,
     const rmw_service_t * service,
     rmw_service_info_t * request_header,
     void * ros_request,
     bool * taken);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_take_response(
     const char * identifier,
     const rmw_client_t * client,
     rmw_service_info_t * request_header,
     void * ros_response,
     bool * taken);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_send_response(
     const char * identifier,
     const rmw_service_t * service,
     rmw_request_id_t * request_header,
     void * ros_response);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_destroy_service(
     const char * identifier,
     rmw_node_t * node,
     rmw_service_t * service);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_service_names_and_types(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_allocator_t * allocator,
     rmw_names_and_types_t * service_names_and_types);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_publisher_names_and_types_by_node(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_allocator_t * allocator,
     const char * node_name,
     const char * node_namespace,
     bool no_demangle,
     rmw_names_and_types_t * topic_names_and_types);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_service_names_and_types_by_node(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_allocator_t * allocator,
     const char * node_name,
     const char * node_namespace,
     rmw_names_and_types_t * service_names_and_types);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_client_names_and_types_by_node(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_allocator_t * allocator,
     const char * node_name,
     const char * node_namespace,
     rmw_names_and_types_t * service_names_and_types);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_subscriber_names_and_types_by_node(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_allocator_t * allocator,
     const char * node_name,
     const char * node_namespace,
     bool no_demangle,
     rmw_names_and_types_t * topic_names_and_types);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_service_server_is_available(
     const char * identifier,
     const rmw_node_t * node,
     const rmw_client_t * client,
     bool * is_available);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_destroy_subscription(
     const char * identifier,
     const rmw_node_t * node,
     rmw_subscription_t * subscription,
     bool reset_cft = false);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_subscription_count_matched_publishers(
     const rmw_subscription_t * subscription,
     size_t * publisher_count);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_subscription_get_actual_qos(
     const rmw_subscription_t * subscription,
     rmw_qos_profile_t * qos);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_subscription_set_content_filter(
     rmw_subscription_t * subscription,
     const rmw_subscription_content_filter_options_t * options);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_subscription_get_content_filter(
     const rmw_subscription_t * subscription,
     rcutils_allocator_t * allocator,
     rmw_subscription_content_filter_options_t * options);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_service_response_publisher_get_actual_qos(
     const rmw_service_t * service,
     rmw_qos_profile_t * qos);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_service_request_subscription_get_actual_qos(
     const rmw_service_t * service,
     rmw_qos_profile_t * qos);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_client_request_publisher_get_actual_qos(
     const rmw_client_t * client,
     rmw_qos_profile_t * qos);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_client_response_subscription_get_actual_qos(
     const rmw_client_t * client,
     rmw_qos_profile_t * qos);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_take(
     const char * identifier,
     const rmw_subscription_t * subscription,
     void * ros_message,
     bool * taken,
     rmw_subscription_allocation_t * allocation);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_take_sequence(
     const char * identifier,
     const rmw_subscription_t * subscription,
     size_t count,
     rmw_message_sequence_t * message_sequencxe,
     rmw_message_info_sequence_t * message_info_sequence,
     size_t * taken,
     rmw_subscription_allocation_t * allocation);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_take_loaned_message_internal(
     const char * identifier,
     const rmw_subscription_t * subscription,
     void ** loaned_message,
     bool * taken,
     rmw_message_info_t * message_info);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_return_loaned_message_from_subscription(
     const char * identifier,
     const rmw_subscription_t * subscription,
     void * loaned_message);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_take_event(
     const char * identifier,
     const rmw_event_t * event_handle,
     void * event_info,
     bool * taken);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_take_with_info(
     const char * identifier,
     const rmw_subscription_t * subscription,
     void * ros_message,
     bool * taken,
     rmw_message_info_t * message_info,
     rmw_subscription_allocation_t * allocation);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_take_serialized_message(
     const char * identifier,
     const rmw_subscription_t * subscription,
     rmw_serialized_message_t * serialized_message,
     bool * taken,
     rmw_subscription_allocation_t * allocation);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_take_serialized_message_with_info(
     const char * identifier,
     const rmw_subscription_t * subscription,
     rmw_serialized_message_t * serialized_message,
     bool * taken,
     rmw_message_info_t * message_info,
     rmw_subscription_allocation_t * allocation);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_topic_names_and_types(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_allocator_t * allocator,
     bool no_demangle,
     rmw_names_and_types_t * topic_names_and_types);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_wait(
     const char * identifier,
     rmw_subscriptions_t * subscriptions,
     rmw_guard_conditions_t * guard_conditions,
     rmw_services_t * services,
     rmw_clients_t * clients,
     rmw_events_t * events,
     rmw_wait_set_t * wait_set,
     const rmw_time_t * wait_timeout);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_wait_set_t *
   __rmw_create_wait_set(const char * identifier, rmw_context_t * context, size_t max_conditions);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_destroy_wait_set(const char * identifier, rmw_wait_set_t * wait_set);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_publishers_info_by_topic(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_allocator_t * allocator,
     const char * topic_name,
     bool no_mangle,
     rmw_topic_endpoint_info_array_t * publishers_info);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_get_subscriptions_info_by_topic(
     const char * identifier,
     const rmw_node_t * node,
     rcutils_allocator_t * allocator,
     const char * topic_name,
     bool no_mangle,
     rmw_topic_endpoint_info_array_t * subscriptions_info);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_qos_profile_check_compatible(
     const rmw_qos_profile_t publisher_profile,
     const rmw_qos_profile_t subscription_profile,
     rmw_qos_compatibility_type_t * compatibility,
     char * reason,
     size_t reason_size);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_publisher_get_network_flow_endpoints(
     const rmw_publisher_t * publisher,
     rcutils_allocator_t * allocator,
     rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_subscription_get_network_flow_endpoints(
     const rmw_subscription_t * subscription,
     rcutils_allocator_t * allocator,
     rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_subscription_set_on_new_message_callback(
     rmw_subscription_t * rmw_subscription,
     rmw_event_callback_t callback,
     const void * user_data);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_service_set_on_new_request_callback(
     rmw_service_t * rmw_service,
     rmw_event_callback_t callback,
     const void * user_data);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_client_set_on_new_response_callback(
     rmw_client_t * rmw_client,
     rmw_event_callback_t callback,
     const void * user_data);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   rmw_ret_t
   __rmw_event_set_callback(
     rmw_event_t * rmw_event,
     rmw_event_callback_t callback,
     const void * user_data);
   
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   bool
   __rmw_feature_supported(rmw_feature_t feature);
   
   }  // namespace rmw_fastrtps_shared_cpp
   
   #endif  // RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_